JPS6024295A - Robot for laser working - Google Patents

Abstract

PURPOSE:To form the focusing part of laser light to a curved surface at all times and to cut the optional curved surface with a uniform narrow width in the stage of cutting the curved surfac with laser working by a robot by passing the laser light into an arm consisting of the articulated construction of the robot. CONSTITUTION:A robot base 1 has a main shaft 2 and an arm 9 which has the 1st articulated part 6, the 2nd articulated part 7 and the 3rd articulated part 8 and is freely three-dimensionally driven. A laser oscillator 17 is attached onto said base. Many reflection mirrors 20a-20j are provided to the respective articulated parts in the robot arm 9 so that the laser light past the inside of the arm 9 is condensed by a condenser lens 21 in the condensing part 22 at the top end to form the focus of the laser light always at a specified distance. The arm 9 is so operated that the focus of the laser light is brought to the working point A of a curved surface 23 of an automotive body or the like. The focus of the laser light is always formed onto the surface 23 by the movement of the arm 9 along the surface 23, by which the uniform cutting of the surface 23 at a narrow width is made possible.

Description

[Detailed Description of the Invention] [Technical Field of the Invention] This invention relates to a laser processing machine for laser processing such as laser cutting by irradiating a laser beam onto a workpiece having a curved surface, such as a car die. Regarding the cut.

[Technical background of the invention and its problems]

When parts such as wheels of automobiles obtained by press working are trimmed or cut, manual nibning and plasma cutting have conventionally been used.

Nizoning processing requires a lot of man-hours and causes an increase in costs.

Plasma cutting has a wide cutting width and pays A! There is a drawback that - appears. In particular, Beino 9- has environmental health problems.

Furthermore, with the recent spread of laser processing machines, workpieces are now being cut by irradiating them with Radical light. This type of laser processing machine is a scanner that controls the three axes of XYz.
It is suitable for flat workpieces, but as mentioned above, what about automobiles? It is impossible to cut workpieces with curved surfaces such as diamonds, and they are not used for trimming.

[Purpose of the invention]

This invention was made with the above-mentioned circumstances in mind.The purpose of this invention is to use the Kawaguchi cut laser process, which enables cutting of workpieces with curved surfaces, such as automobile peddies, at high speed and with a uniform narrow cutting width. This is what we are trying to provide.

[Summary of the invention]

This invention is for guiding a laser beam oscillated from a laser oscillator to a condensing part through an optical transmission system and irradiating it onto a workpiece, in which the condensing part is supported by a gutter arm,
It is characterized in that the laser beam can be irradiated in the normal direction of the surface of the workpiece, so that it can scan along the curved surface of the workpiece.

[Embodiments of the invention]

The present invention will be described below based on embodiments shown in the drawings. FIG. 1 shows an embodiment of the mackerel 1, in which 1 is a lopit stand. A lifting shaft 3 constituting a main shaft 2 is supported on this rodet table 1 so as to be able to rise and fall freely.A horizontal shaft 4 is connected to the upper end of this lifting shaft 3. It is designed to be able to rotate around 3 as the axis.

This horizontal shaft 4 is formed hollow, and a hollow reciprocating shaft 5 is inserted into the interior of the horizontal shaft 4 so as to be freely retractable and retractable in the axial direction. Therefore, the five forward and backward axes are vertically moved, forward and backward, and rotated by the above-mentioned elevating axis 3 and horizontal axis 4.
These drive sources are constituted by known air cylinders, serve motors, harmonic drives, and the like.

Further, a first joint portion 6 and a second joint portion are provided at the distal end of the forward and backward shaft 5.
Robot arm 9 having a joint 7 and a third joint 8
are connected. The first joint section 6 is composed of a rotary tube 10 which is rotatably provided at the tip of the advance/retreat shaft 5, and a connecting tube 11 connected at right angles to the rotary tube 10. A holding cylinder 12 is fixed to the tip of this connecting cylinder 11, and a rotary cylinder 13 is rotatably connected to this holding cylinder 12. The holding cylinder 12 and the rotating cylinder 13 form the second joint part 7. Furthermore, a rotary tube 15 is connected to one side of the rotary tube 13 of the second joint section 7 via a connecting tube 14 in an L-shape, thereby forming a third joint section 8 . A lens barrel 16 is connected to one end of the rotating barrel 15 of the third joint portion 8 .

The first, second, and third joint portions 6, 7.8 are rotated by an internal sales motor (not shown).

On the other hand, numeral 17 is, for example, a CO2 laser oscillator, and the laser beam emitted from it is transmitted through the laser guide tube 18 to the above-mentioned laser beam. , the light is transmitted into the main shaft 2 and the robot arm 9. Next, this optical transmission system 19
To explain, 20a is a first mirror provided at the refraction portion of the laser guide cylinder 18, and 20b is a second mirror provided within the horizontal axis 4. A third mirror 20C1 and a fourth mirror 2 are provided at both ends of the rotating barrel 10 of the first joint portion 6.
0d is facing.

A fifth mirror 20 is provided at both ends of the holding cylinder 12 of the second joint portion 7.
e, the sixth mirror 201 is opposed to it, and the seventh mirror 20g is opposed to the lower end of the rotary cylinder 13. The third joint portion 80 has an eighth mirror 20h on the rotating barrel 15,
A ninth mirror 5-201 faces the lens barrel 16, and a tenth mirror 20j is provided on the lens barrel 16. Then, the laser beam transmitted to the id cylinder 18 is transmitted to the first mirror 20 →
It is transmitted by the optical transmission system 19 of the tenth filter 20j and guided to the optical end of the arm 9.

Actually, this opening is a condensing lens 21 provided on the lens barrel 16 at the tip of the toe arm 9, and a condensing part 2 that condenses the laser beam.
2.

Also, is 23 a car? This is a workpiece having a curved surface such as a di, and is fixedly supported by a jig 24.

Next, the operation of the laser cut Kawaguchi cut configured as described above will be explained. First, the relative positioning of the workpiece 23 with respect to the machining points A&C is performed by raising and lowering the vertical axis 3 and horizontal axis 4.
This is done by turning and moving the forward/backward axis 5 back and forth, and then bending the first joint 6 to align the fish collecting position with respect to the processing point AK.

In this state, when the Rade oscillator 11 oscillates Raded light, the Raded light is transmitted through the main target 6--the optical transmission system 19 in the shaft 2 and the robot arm 9, and the first mirror 20a to the tenth mirror. The light is guided to the condenser 22 via the mirror 20j. This laser light is then condensed by the condenser lens 21 and irradiated onto the processing point A. At this time, when the second joint 7 makes an ω turn and the third joint 8 makes a γ turn, the laser beam is irradiated in the normal direction to the workpiece surface, and the workpiece 23 is machined along the curved surface. can.

Note that in the first embodiment, the robot arm 9
Although the first, second, and third joint portions 6, 7°, and 8 are provided, this is merely an example, and is not intended to be limiting, and the same applies to the number of mirrors.

FIG. 2 shows a second embodiment of the invention, in which an optical fiber is used as the optical transmission system.

A multi-joint arm 25 is connected to the tip of the reciprocating shaft 5 constituting the main shaft 2vl''.An optical fiber 26 is attached to the multi-joint arm 25. It faces the mirror 20b, and the other end is connected to the condensing part 27.Furthermore, the base end of the drive arm 28 is rotatably connected to the tip of the advance/retreat shaft 5. A rotating arm 29 as a rotating means is provided at the tip of the rotating arm 29.The rotating arm 29 supports the above-mentioned light condensing section 27.
By rotating the put drive arm 28 and rotating the rotating arm 29, the surface of the workpiece 23 at the processing point A can be irradiated with laser light in the normal direction. In addition, since the optical fiber 26 is highly flexible, it has a multi-joint opening. It has the advantage that it curves to follow the refraction of the cut arm 25, and that it can reliably transmit light.

FIG. 3 shows a third embodiment of this invention.1. '1
It is an OFi multi-jointed arm. This multi-joint arm 30 includes, for example, first, second, and third joint portions 3 J , J 2 ,
J, 9, each of these joints 31, 32, 33
Inside are mirrors 31a and 32a as optical transmission systems.
. Further, 36 is a Lopit main shaft, and this Loget main shaft 36 is provided with an advance/retreat shaft 37, and a mouth? A pivot arm 39 is provided via the cut arm 38. The light condensing section 35t is rotated by this rotating arm 39.

Further, although the present invention is suitable for trimming the vehicle, the workpiece is not limited to this, and can also be applied to laser cutting.

〔Effect of the invention〕

As explained above, according to the configuration of the present invention, even a workpiece having a curved surface can be irradiated with laser light in the normal direction. Therefore, when applied to lede cutting, the cutting width is small and processing can be performed at high speed, which improves productivity compared to conventional processing.
Cost reduction can be achieved.

9-

[Brief explanation of the drawing]

FIG. 1 is a schematic configuration diagram showing a first embodiment of the present invention;
FIG. 2 is a schematic configuration diagram showing a second embodiment of the present invention;
FIG. 3 is a schematic configuration diagram showing a third embodiment. 2...''I,) Main axis, 9... Robot arm, 17... Laser oscillator, 19... Optical transmission system, 22
...Condenser, 23...Workpiece. Applicant's agent Patent attorney Takehiko Suzue -10-P IMI i+ □! 'J9・A, 31+;+Manabu Shiga, Commissioner of the Japan Patent Office1, Indication of the case Japanese Patent Application No. 1982-1326152, Name of the invention Laser processing robot 3, Person making the amendment Relationship to the case Patent applicant ( 307) Toshiba Corporation 4, Agent 6, Specification subject to amendment 1 Drawing 7, Contents of amendment (1) The scope of claims is corrected as shown in the attached sheet. (2) Change “toward the normal direction of the object surface” on page 3, line 9 of the specification to “
"Light condensed on the object surface" K corrected. (3) "Figure 1" on page 3, line 14 of the same book is corrected to "drawing." (4) Delete "Figure 2 is what was done..." from page 7, line 15 to page 9, line 9 of the circular. (5) On page 9, line 16 of the same book, ``in the normal direction'' is corrected to ``the robot arm guides the light to the workpiece surface and focuses it.'' (6) On page 10 of the circular, lines 2 to 5, “Figure 1 is...
It is... " is corrected to "The drawing is a schematic configuration diagram showing one embodiment of the present invention." (7) Figures 2 and 3 will be deleted from the drawings, and the figure number "Figure 1" for Figure 1 will be deleted as if it had not been placed on a separate sheet. 2. Scope of Claims Rade light emitted from a Rade oscillator is guided to a condensing section through an optical transmission system, and a workpiece is irradiated with the laser light condensed by the condensing section to provide an arm. A laser processing robot characterized in that the robot arm is configured to condense and irradiate the light beam. Applicant's agent Patent attorney Hiko Rin Ushiki

Claims (1)

[Claims] A laser beam emitted from a laser oscillator is guided through an optical transmission system to a condensing section, and the workpiece is processed by irradiating the laser beam condensed by this condensing section. A mouth yNy) arm that can freely move in an arc in the vertical direction is provided on the axis and the robot main shaft that can freely rotate. A laser processing row e, g, characterized in that a cut arm guides the condensing section so that the laser beam is condensed and irradiated in the normal direction of the surface of the workpiece.